Rotate, not orbit, the view?
Press Shift-F to enter Walk/Fly mode and you can then use the mouse to 'look around'. Pressing WSAD moves Forward, Backward, Left, Right. LShift for 'fast' mode, other keys listed in the status bar at the bottom of the window. Esc to exit Walk/Fly mode. You can choose Walk/Fly from the View/Navigation menu.